Investigation on the Phalange Contact Force for a 2 finger Pulley-Tendon Driven Robotic Hand
The loss of a limb gives an enormous social, psychological and economic impact to the amputee. Replacement of an absent limb with an artificial limb, which may restore some functionality, is very expensive and a very complex process. Today, such technologies exist but it comes at a very high cost wi...
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my-utp-utpedia.172312017-03-01T16:20:25Z http://utpedia.utp.edu.my/17231/ Investigation on the Phalange Contact Force for a 2 finger Pulley-Tendon Driven Robotic Hand Mahmoud, Ali Moghavvemi TJ Mechanical engineering and machinery The loss of a limb gives an enormous social, psychological and economic impact to the amputee. Replacement of an absent limb with an artificial limb, which may restore some functionality, is very expensive and a very complex process. Today, such technologies exist but it comes at a very high cost with unsatisfactory tracking ability. The anatomy of the human hand and its actuators were investigated to determine the effect of actuator force, object radius and joint spring stiffness on the contact force of the finger phalanges. It is found that, actuator force is directly proportional to the contact forces of the phalanges, object radius reduces the contact force as radius increases and spring stiffness will reduce the contact force of the phalanges. Spring stiffness if designed correctly, tends to average out the contact force of the phalanges, resulting in a more stable grasp. To take this project further, more optimization options need to be explored to output a more accurate result and apply the same method to add more fingers, ultimately resembling a human hand. IRC 2016-05 Final Year Project NonPeerReviewed application/pdf en http://utpedia.utp.edu.my/17231/1/Dissertation%20Rev%206.pdf Mahmoud, Ali Moghavvemi (2016) Investigation on the Phalange Contact Force for a 2 finger Pulley-Tendon Driven Robotic Hand. IRC, Universiti Teknologi PETRONAS. (Submitted) |
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TJ Mechanical engineering and machinery Mahmoud, Ali Moghavvemi Investigation on the Phalange Contact Force for a 2 finger Pulley-Tendon Driven Robotic Hand |
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The loss of a limb gives an enormous social, psychological and economic impact to the amputee. Replacement of an absent limb with an artificial limb, which may restore some functionality, is very expensive and a very complex process. Today, such technologies exist but it comes at a very high cost with unsatisfactory tracking ability. The anatomy of the human hand and its actuators were investigated to determine the effect of actuator force, object radius and joint spring stiffness on the contact force of the finger phalanges. It is found that, actuator force is directly proportional to the contact forces of the phalanges, object radius reduces the contact force as radius increases and spring stiffness will reduce the contact force of the phalanges. Spring stiffness if designed correctly, tends to average out the contact force of the phalanges, resulting in a more stable grasp. To take this project further, more optimization options need to be explored to output a more accurate result and apply the same method to add more fingers, ultimately resembling a human hand. |
format |
Final Year Project |
author |
Mahmoud, Ali Moghavvemi |
author_facet |
Mahmoud, Ali Moghavvemi |
author_sort |
Mahmoud, Ali Moghavvemi |
title |
Investigation on the Phalange Contact Force for a 2 finger Pulley-Tendon Driven Robotic Hand |
title_short |
Investigation on the Phalange Contact Force for a 2 finger Pulley-Tendon Driven Robotic Hand |
title_full |
Investigation on the Phalange Contact Force for a 2 finger Pulley-Tendon Driven Robotic Hand |
title_fullStr |
Investigation on the Phalange Contact Force for a 2 finger Pulley-Tendon Driven Robotic Hand |
title_full_unstemmed |
Investigation on the Phalange Contact Force for a 2 finger Pulley-Tendon Driven Robotic Hand |
title_sort |
investigation on the phalange contact force for a 2 finger pulley-tendon driven robotic hand |
publisher |
IRC |
publishDate |
2016 |
url |
http://utpedia.utp.edu.my/17231/1/Dissertation%20Rev%206.pdf http://utpedia.utp.edu.my/17231/ |
_version_ |
1739832359375601664 |
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13.160551 |